ref verb and filter improvements (#1168)

Author: Affie

src/Common.jl

@@ -126,6 +126,19 @@ function filterDFG!(nodes, predicate::Function, by::Function = identity)
     return filter!(predicate ∘ by, nodes)
 end
 
+# specialized for label::Symbol filtering
+function filterDFG!(nodes, predicate::Function, by::typeof(getLabel))
+    # TODO this is not as clean as it should be, revisit if any issues arise
+    # Standard predicates that needs to be converted to string to work with Symbols
+    # OR look for the type if predicate isa Base.Fix2 && (predicate.x isa AbstractString || predicate.x isa Regex)
+    if predicate isa Base.Fix2 &&
+       typeof(predicate.f) in [typeof(contains), typeof(startswith), typeof(endswith)]
+        return filter!(predicate ∘ string ∘ by, nodes)
+    else
+        return filter!(predicate ∘ by, nodes)
+    end
+end
+
 ##==============================================================================
 ## Validation of session, robot, and user labels.
 ##==============================================================================

src/DataBlobs/services/BlobEntry.jl

@@ -218,7 +218,7 @@ function getBlobentries(
     blobIdFilter::Union{Nothing, Function} = nothing,
 )
     entries = getBlobentries(v)
-    filterDFG!(entries, labelFilter, x -> string(x.label))
+    filterDFG!(entries, labelFilter, getLabel)
     filterDFG!(entries, blobIdFilter, x -> string(x.blobId))
     return entries
 end

src/GraphsDFG/services/GraphsDFG.jl

@@ -91,6 +91,11 @@ function mergeVariable!(dfg::GraphsDFG, variable::AbstractGraphVariable)
     return 1
 end
 
+function mergeVariables!(dfg::GraphsDFG, variables)
+    cnts = map(mergeVariable!, variables)
+    return sum(cnts)
+end
+
 function mergeFactor!(dfg::GraphsDFG, factor::AbstractGraphFactor)
     if !haskey(dfg.g.factors, factor.label)
         addFactor!(dfg, factor)
@@ -174,7 +179,7 @@ function getVariables(
         filterDFG!(variables, >=(solvable), getSolvable)
     end
 
-    filterDFG!(variables, labelFilter, (String ∘ getLabel))
+    filterDFG!(variables, labelFilter, getLabel)
     filterDFG!(variables, solvableFilter, getSolvable)
     filterDFG!(variables, tagsFilter, getTags)
     filterDFG!(variables, typeFilter, getVariableType)
@@ -236,7 +241,7 @@ function getFactors(
             "The regex filter argument is deprecated, use kwarg `labelFilter=contains(regex)` instead", #v0.28
             :getFactors,
         )
-        filterDFG!(factors, contains(regex), (String ∘ getLabel))
+        filterDFG!(factors, contains(regex), getLabel)
     end
     if !isempty(tags)
         # NOTE that !isdisjoint is not supported by NvaDFG.
@@ -255,7 +260,7 @@ function getFactors(
         filterDFG!(factors, >=(solvable), getSolvable)
     end
 
-    filterDFG!(factors, labelFilter, (String ∘ getLabel))
+    filterDFG!(factors, labelFilter, getLabel)
     filterDFG!(factors, solvableFilter, getSolvable)
     filterDFG!(factors, tagsFilter, getTags)
     filterDFG!(factors, typeFilter, typeof ∘ getFactorType)
@@ -557,7 +562,7 @@ end
 
 function getGraphBlobentries(fg::GraphsDFG; labelFilter::Union{Nothing, Function} = nothing)
     entries = collect(values(fg.graph.blobEntries))
-    filterDFG!(entries, labelFilter, (String ∘ getLabel))
+    filterDFG!(entries, labelFilter, getLabel)
     return entries
 end
 
@@ -566,7 +571,7 @@ function listGraphBlobentries(
     labelFilter::Union{Nothing, Function} = nothing,
 )
     labels = collect(keys(fg.graph.blobEntries))
-    filterDFG!(labels, labelFilter, String)
+    filterDFG!(labels, labelFilter, string)
     return labels
 end
 

src/entities/AbstractDFG.jl

@@ -1,7 +1,7 @@
 
 # TODO consider enforcing the full structure.
 # This is not explicitly inforced, but surves as extra information of how the structure is put together.
-# AbstractDFGNode are all nodes that make up a DFG, including Agent, Graph, Variable, Factor, Blobstore, etc.
+# AbstractDFGNode are all nodes that make up a DFG, including Agent, Graph, Variable, Factor, Blobstore, Blobentry etc.
 # abstract type AbstractDFGNode end
 # any DFGNode shall have a label. 
 # abstract type AbstractGraphNode end <: AbstractDFGNode

src/entities/DFGFactor.jl

@@ -223,6 +223,9 @@ Base.@kwdef struct FactorCompute{FT <: AbstractObservation, N} <: AbstractGraphF
     solvercache::Base.RefValue{<:FactorCache} #TODO easy of use vs. performance as container is abstract in any case.
 end
 
+#FIXME rename smallData to metadata
+refMetadata(node::FactorCompute) = node.smallData
+
 ##------------------------------------------------------------------------------
 ## Constructors
 

src/entities/DFGVariable.jl

@@ -44,7 +44,7 @@ Base.@kwdef mutable struct State{T <: StateType, P, N}
     Flag used by junction (Bayes) tree construction algorithm to know whether this variable has yet been included in the tree construction.
     """
     eliminated::Bool = false
-    BayesNetVertID::Symbol = :NOTHING #  Union{Nothing, }
+    BayesNetVertID::Symbol = :NOTHING #  Union{Nothing, } #TODO deprecate
     separator::Vector{Symbol} = Symbol[]
     """
     False if initial numerical values are not yet available or stored values are not ready for further processing yet.
@@ -118,7 +118,7 @@ Base.@kwdef mutable struct PackedState
     dimIDs::Vector{Int}
     dims::Int
     eliminated::Bool
-    BayesNetVertID::Symbol # Int
+    BayesNetVertID::Symbol # Int #TODO deprecate
     separator::Vector{Symbol} # Int
     variableType::String
     initialized::Bool
@@ -163,7 +163,6 @@ Data container to store Parameteric Point Estimate (PPE) for mean and max.
 """
 Base.@kwdef struct MeanMaxPPE <: AbstractPointParametricEst
     id::Union{UUID, Nothing} = nothing # If it's blank it doesn't exist in the DB.
-    # repeat key value internally (from a design request by Sam)
     solveKey::Symbol
     suggested::Vector{Float64}
     max::Vector{Float64}
@@ -326,6 +325,10 @@ Base.@kwdef struct VariableCompute{T <: StateType, P, N} <: AbstractGraphVariabl
     solvable::Base.RefValue{Int} = Ref(1)
 end
 
+refStates(v::VariableCompute) = v.solverDataDict
+refMetadata(v::VariableCompute) = v.smallData
+refBlobentries(v::VariableCompute) = v.dataDict
+
 ##------------------------------------------------------------------------------
 ## Constructors
 

src/services/AbstractDFG.jl

@@ -1099,6 +1099,7 @@ Related
 """
 function findShortestPathDijkstra end
 
+#TODO deprecate
 """
     $SIGNATURES
 

src/services/CommonAccessors.jl

@@ -1,6 +1,11 @@
 ##==============================================================================
 ## Common Accessors
 ##==============================================================================
+
+refTags(node) = node.tags
+refMetadata(node) = node.metadata
+refBlobentries(node) = node.blobEntries # FIXME rename blobEntries to blobentries to match noun
+
 # Common get and set methods
 
 # NOTE this could be reduced with macros and function generation to even less code.

src/services/CompareUtils.jl

@@ -196,37 +196,37 @@ end
 
 #Compare State
 function compare(a::State, b::State)
-    a.val != b.val && @debug("val is not equal") == nothing && return false
-    a.bw != b.bw && @debug("bw is not equal") == nothing && return false
+    a.val != b.val && @debug("val is not equal") === nothing && return false
+    a.bw != b.bw && @debug("bw is not equal") === nothing && return false
     a.BayesNetOutVertIDs != b.BayesNetOutVertIDs &&
-        @debug("BayesNetOutVertIDs is not equal") == nothing &&
+        @debug("BayesNetOutVertIDs is not equal") === nothing &&
         return false
-    a.dimIDs != b.dimIDs && @debug("dimIDs is not equal") == nothing && return false
-    a.dims != b.dims && @debug("dims is not equal") == nothing && return false
+    a.dimIDs != b.dimIDs && @debug("dimIDs is not equal") === nothing && return false
+    a.dims != b.dims && @debug("dims is not equal") === nothing && return false
     a.eliminated != b.eliminated &&
-        @debug("eliminated is not equal") == nothing &&
+        @debug("eliminated is not equal") === nothing &&
         return false
     a.BayesNetVertID != b.BayesNetVertID &&
-        @debug("BayesNetVertID is not equal") == nothing &&
+        @debug("BayesNetVertID is not equal") === nothing &&
         return false
     a.separator != b.separator &&
-        @debug("separator is not equal") == nothing &&
+        @debug("separator is not equal") === nothing &&
         return false
     a.initialized != b.initialized &&
-        @debug("initialized is not equal") == nothing &&
+        @debug("initialized is not equal") === nothing &&
         return false
     !isapprox(a.infoPerCoord, b.infoPerCoord; atol = 1e-13) &&
-        @debug("infoPerCoord is not equal") == nothing &&
+        @debug("infoPerCoord is not equal") === nothing &&
         return false
-    a.ismargin != b.ismargin && @debug("ismargin is not equal") == nothing && return false
+    a.ismargin != b.ismargin && @debug("ismargin is not equal") === nothing && return false
     a.dontmargin != b.dontmargin &&
-        @debug("dontmargin is not equal") == nothing &&
+        @debug("dontmargin is not equal") === nothing &&
         return false
     a.solveInProgress != b.solveInProgress &&
-        @debug("solveInProgress is not equal") == nothing &&
+        @debug("solveInProgress is not equal") === nothing &&
         return false
     getVariableType(a) != getVariableType(b) &&
-        @debug("variableType is not equal") == nothing &&
+        @debug("variableType is not equal") === nothing &&
         return false
     return true
 end

src/services/DFGFactor.jl

@@ -132,7 +132,7 @@ See documentation in [Manifolds.jl on making your own](https://juliamanifolds.gi
 
 Example:
 ```
-DFG.@defObservationType Pose2Pose2 RelativeObservation SpecialEuclidean(2)
+DFG.@defObservationType Pose2Pose2 RelativeObservation SpecialEuclideanGroup(2)
 ```
 """
 macro defObservationType(structname, factortype, manifold)
@@ -167,6 +167,7 @@ macro defObservationType(structname, factortype, manifold)
 end
 
 getManifold(obs::AbstractObservation) = getManifold(typeof(obs))
+getManifold(f::AbstractGraphFactor) = getManifold(getObservation(f))
 
 ##==============================================================================
 ## Factors